NDLI: Online multi-robot exploration of grid graphs with rectangular obstacles

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Online multi-robot exploration of grid graphs with rectangular obstacles

Content Provider	ACM Digital Library
Author	Ortolf, Christian Schindelhauer, Christian
Abstract	We consider the multi-robot exploration problem of an unknown n x n grid graph with oriented disjoint rectangular obstacles. All robots start at a given node and have to visit all nodes of the graph. The robots are unrestricted in their computational power and storage. In the local communication model the robots can exchange any information if they meet at the same node. In the global communication model all robots share the same knowledge. In this paper we present the first nontrivial upper and lower bounds. We show that k robots can explore the graph using only local communication in time O( n $log^{2}(n)$ + (f log n)/k), where f is the number of free nodes in the graph. This establishes a competitive upper bound of $O(log^{2}$ n). For the lower bound we show a competitive factor of Ω((log k)/(log log k)) for deterministic exploration and Ω(√(log k)/(log log k)) for randomized exploration strategies using global communication.
Starting Page	27
Ending Page	36
Page Count	10
File Format	PDF
ISBN	9781450312134
DOI	10.1145/2312005.2312010
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2012-06-25
Publisher Place	New York
Access Restriction	Subscribed
Subject Keyword	Competitive analysis Mobile agent Robot Collective graph exploration
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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